Author(s)

K. Yoshida

Abstract

The Japanese Institute of Space and Astronautical Science (ISAS) has a plan to launch a satellite named MUSES-C which explores an asteroid, acquiring samples from its surface using a manipulator arm, then returning to the Earth. This paper studies manipulator mechanisms and control schemes of MUSES-C that would ensure the possible sample acquisition. Since the asteroid is a very small object, its gravitational force is very weak. Then the contact with the asteroid will be performed under the free-flying environment. Dynamics and control of the sample acquisition is simulated with the development of a feasible MUSES-C model using the ADAMS dynamics simulator. 1 Introduction Asteroids are small particles of rockey bodies orbiting the Sun, a concentration of which bodies makes up the A

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